Quaternion method for the kinematics analysis of parallel metamorphic mechanisms
文献类型：会议论文
| 作者 | Zhang ZH(张忠海); Sun J(孙健) ; Wang ZH(王振华); Yu GJ(于功敬); Li DL(李端玲); Liu JG(刘金国)
|
| 出版日期 | 2015 |
| 会议名称 | 3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015) |
| 会议日期 | July 20-22, 2015 |
| 会议地点 | Beijing, China |
| 关键词 | Parallel metamorphic mechanism Kinematics analysis Forward kinematics Inverse kinematics Quaternion Resultant elimination |
| 卷号 | 36 |
| 页码 | 259-274 |
| 中文摘要 | The parallel metamorphic mechanism is a novel metamorphic mechanism. Its kinematics analysis is not only a new research field, but also a difficult problem. In this paper, with the origin of coordinates on the moving platform describing its position and Euler angles describing its orientation, we present the quaternion expression of an arbitrary point’s location on the moving platform in the fixed coordinate system. Then a method to establish the unified mathematical model for kinematics analysis of the parallel metamorphic mechanism is presented. Based on this unified mathematical model, forward and inverse kinematics analysis of the parallel metamorphic mechanism in different configurations can be conducted. Using kinematics analysis of a novel 4-URU parallel metamorphic mechanism, the proposed kinematics analysis method is further elaborated, and the resultant elimination method is presented to solve the kinematics equations. Finally, a numerical example is given to verify that the proposed method is correct and effective. |
| 收录类别 | EI |
| 产权排序 | 3 |
| 会议录 | Mechanisms and Machine Science
 |
| 会议录出版者 | Kluwer Academic Publishers |
| 会议录出版地 | Dordrecht, Netherlands |
| 语种 | 英语 |
| ISSN号 | 2211-0984 |
| 源URL | [http://ir.sia.cn/handle/173321/17325]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Zhang ZH,Sun J,Wang ZH,et al. Quaternion method for the kinematics analysis of parallel metamorphic mechanisms[C]. 见:3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015). Beijing, China. July 20-22, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。